Diarthrodial joint function is mediated by a complex interaction between bones, ligaments, capsules, articular cartilage, and muscles. To gain a better understanding of injury mechanisms and to improve surgical procedures, an improved understanding of the structure and function of diarthrodial joints needs to be obtained. Thus, robotic testing systems have been developed to measure the resulting kinematics of diarthrodial joints as well as the in situ forces in ligaments and their replacement grafts in response to external loading conditions. These six degrees-of-freedom (DOF) testing systems can be controlled in either position or force modes to simulate physiological loading conditions or clinical exams. Recent advances allow kinematic, in situ force, and strain data to be measured continuously throughout the range of joint motion using velocity-impedance control, and in vivo kinematic data to be reproduced on cadaveric specimens to determine in situ forces during physiologic motions. The principle of superposition can also be used to determine the in situ forces carried by capsular tissue in the longitudinal direction after separation from the rest of the capsule as well as the interaction forces with the surrounding tissue. Finally, robotic testing systems can be used to simulate soft tissue injury mechanisms, and computational models can be validated using the kinematic and force data to help predict in vivo stresses and strains present in these tissues. The goal of these analyses is to help improve surgical repair procedures and postoperative rehabilitation protocols. In the future, more information is needed regarding the complex in vivo loads applied to diarthrodial joints during clinical exams and activities of daily living to serve as input to the robotic testing systems. Improving the capability to accurately reproduce in vivo kinematics with robotic testing systems should also be examined.
Skip Nav Destination
Article navigation
February 2017
Research-Article
Use of Robotic Manipulators to Study Diarthrodial Joint Function
Richard E. Debski,
Richard E. Debski
Orthopaedic Robotics Laboratory,
Departments of Bioengineering
and Orthopaedic Surgery,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
e-mail: genesis1@pitt.edu
Departments of Bioengineering
and Orthopaedic Surgery,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
e-mail: genesis1@pitt.edu
Search for other works by this author on:
Satoshi Yamakawa,
Satoshi Yamakawa
Tokyo Metropolitan University,
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
Search for other works by this author on:
Volker Musahl,
Volker Musahl
Orthopaedic Robotics Laboratory,
Departments of Orthopaedic Surgery
and Bioengineering,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
Departments of Orthopaedic Surgery
and Bioengineering,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
Search for other works by this author on:
Hiromichi Fujie
Hiromichi Fujie
Tokyo Metropolitan University,
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
Search for other works by this author on:
Richard E. Debski
Orthopaedic Robotics Laboratory,
Departments of Bioengineering
and Orthopaedic Surgery,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
e-mail: genesis1@pitt.edu
Departments of Bioengineering
and Orthopaedic Surgery,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
e-mail: genesis1@pitt.edu
Satoshi Yamakawa
Tokyo Metropolitan University,
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
Volker Musahl
Orthopaedic Robotics Laboratory,
Departments of Orthopaedic Surgery
and Bioengineering,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
Departments of Orthopaedic Surgery
and Bioengineering,
University of Pittsburgh,
408 Center for Bioengineering,
300 Technology Drive,
Pittsburgh, PA 15219
Hiromichi Fujie
Tokyo Metropolitan University,
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
6-6 Asahigaoka, Hino,
Tokyo 191-0065, Japan
1Corresponding author.
Manuscript received July 9, 2016; final manuscript received December 23, 2016; published online January 19, 2017. Assoc. Editor: Beth A. Winkelstein.
J Biomech Eng. Feb 2017, 139(2): 021010 (7 pages)
Published Online: January 19, 2017
Article history
Received:
July 9, 2016
Revised:
December 23, 2016
Citation
Debski, R. E., Yamakawa, S., Musahl, V., and Fujie, H. (January 19, 2017). "Use of Robotic Manipulators to Study Diarthrodial Joint Function." ASME. J Biomech Eng. February 2017; 139(2): 021010. https://doi.org/10.1115/1.4035644
Download citation file:
Get Email Alerts
Related Articles
Reproduction of In Vivo Motion Using a Parallel Robot
J Biomech Eng (October,2007)
Finite Element Model of the Knee for Investigation of Injury Mechanisms: Development and Validation
J Biomech Eng (January,2014)
Design and Validation of an Unconstrained Loading System to Measure the Envelope of Motion in the Rabbit Knee Joint
J Biomech Eng (August,2001)
Laboratory Evaluation of Total Knee Replacements (TKRs) to Restore Normal Function
J. Med. Devices (June,2010)
Related Proceedings Papers
Related Chapters
Advances on the Constitutive Characterization of Composites via Multiaxial Robotic Testing and Design Optimization
Advances in Computers and Information in Engineering Research, Volume 1
Infinitesimal Kinematics of Serial-kinematics Machines
Mechanics of Accuracy in Engineering Design of Machines and Robots Volume I: Nominal Functioning and Geometric Accuracy
Feedback-Aided Minimum Joint Motion
Robot Manipulator Redundancy Resolution